Update function name when considering joint Jacobian

This provides some useful information for end users

Some functions working on Jacobian have been renamed:

- getJacobian is now getJointJacobian
- computeJacobians is now computeJointJacobians
- getJacobianTimeVariation is now getJointJacobianTimeVariation
- computeJacobiansTimeVariation is now getJointJacobianTimeVariation

[LieGroups] Replace Jintegrate by dIntegrate_dq and dIntegrate_qv

Split CRBA and centroidal algos

[C++] Add Jexp3 and Jexp6

Add new version of CRBA and clean a bit the CCRBA code

This is a minimal version of CRBA. It also computes for free the centroidal momentum matrix and the kinematic jacobians of all the joints.

Minor correction

[Minor] Remove an assert and add "Model.name" to Python.

Joseph Mirabel authored Jun 27, 2018 and Joseph Mirabel committed Jun 27, 2018

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